Template Function pinocchio::computeFrameKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const FrameIndex, const ReferenceFrame, const Eigen::MatrixBase<Matrix6xReturnType>&)

• Defined in File regressor.hxx

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix6xReturnType>
void pinocchio::computeFrameKinematicRegressor(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, DataTpl<Scalar, Options, JointCollectionTpl> &data, const FrameIndex frame_id, const ReferenceFrame rf, const Eigen::MatrixBase<Matrix6xReturnType> &kinematic_regressor)

Computes the kinematic regressor that links the joint placement variations of the whole kinematic tree to the placement variation of the frame given as input.

Remark

It assumes that the framesForwardKinematics(const ModelTpl<Scalar,Options,JointCollectionTpl> &, DataTpl<Scalar,Options,JointCollectionTpl> &, const Eigen::MatrixBase<ConfigVectorType> &) has been called first.

Parameters:

• model – [in] The model structure of the rigid body system.

• data – [in] The data structure of the rigid body system.

• frame_id – [in] Index of the frame.

• rf – [in] Reference frame in which the result is expressed (LOCAL, LOCAL_WORLD_ALIGNED or WORLD).

• kinematic_regressor – [out] The kinematic regressor containing the result. Matrix of size 6*(model.njoints-1) initialized to 0.